// SPDX-License-Identifier: MIT
// SPDX-FileCopyrightText: 2022 Aliaksei Makarau

#include "common.h"
#include "rotor-light.hpp"

#include "xparameters.h"
#include "xgpio.h"

#define GPIO_OUTPUT_DEVICE_ID	XPAR_GPIO_0_DEVICE_ID
#define LED_CHANNEL           1

namespace rl = rotor_light;

namespace message {
struct Ping : rl::Message {
  using Message::Message;
  static constexpr auto type_id = __LINE__;
  rl::MessageTypeId get_type_id() const override { return type_id; }
};

struct Pong : rl::Message {
  using Message::Message;
  static constexpr auto type_id = __LINE__;
  rl::MessageTypeId get_type_id() const override { return type_id; }
};
} // namespace message

XGpio xil_gpio;
uint32_t gpio_flag = 0xFFFF;

struct Pinger : rl::Actor<2> {
  using Parent = Actor<2>;

  void initialize() override {
    subscribe(&Pinger::on_pong);
    Parent::initialize();
  }

  void advance_start() override {
    Parent::advance_start();
    ping();
  }

  void ping() {
    /* toggle led */
    XGpio_Out32(xil_gpio.BaseAddress + XGPIO_DATA_OFFSET, gpio_flag);
    gpio_flag ^= 0xFFFF;
    send<message::Ping>(0, ponger_id);
  }

  void on_pong(message::Pong &) {
    add_event(
        1, [](void *data) { static_cast<Pinger *>(data)->ping(); }, this);
  }

  rl::ActorId ponger_id;
};

struct Ponger : rl::Actor<2> {
  using Parent = Actor<2>;

  void initialize() override {
    subscribe(&Ponger::on_ping);
    Parent::initialize();
  }
  void on_ping(message::Ping &) {
    //
    send<message::Pong>(0, pinger_id);
  }
  rl::ActorId pinger_id;
};

using Supervisor =
    rl::Supervisor<rl::SupervisorBase::min_handlers_amount, Pinger, Ponger>;
using Storage = rl::traits::MessageStorage<rl::message::ChangeState,
                                           rl::message::ChangeStateAck,
                                           message::Ping, message::Pong>;
using Queue = rl::Queue<Storage, 5>; /* upto 5 messages in 1 queue */
using Planner = rl::Planner<1>;      /* upto 1 time event */

static void app_hw_init();

/* allocate */
Queue queue;
Planner planner;
rl::Context context{&queue, &planner, &get_now};
Supervisor sup;

int main(int, char **) {

  app_hw_init();

  /* setup */
  sup.bind(context);
  auto pinger = sup.get_child<0>();
  auto ponger = sup.get_child<1>();
  pinger->ponger_id = ponger->get_id();
  ponger->pinger_id = pinger->get_id();
  /* let it polls timer */
  sup.start(true);

  /* main cycle */
  sup.process();
  return 0;
}

static void app_hw_init() {
  XGpio_Initialize(&xil_gpio, GPIO_OUTPUT_DEVICE_ID);
  XGpio_SetDataDirection(&xil_gpio, LED_CHANNEL, 0x0);

	microblaze_enable_interrupts();
  enable_timer();
}
